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Code archives/3D Graphics - Misc/Verlet Ragdoll
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Graphics3D 640,480,16,1 Global CAMERA, LIGHT , LIMB , JOINT, PLANE , CURSOR, ARROW Global PICKED.PointMass Global TEST.body Const ITERATIONS = 5 Const TIMESTEP# = .0025 Const PUSH_PULL = 1 Const PUSH = 2 Const PULL = 3 Const C_PointMass = 1 Const C_Ground = 2 Collisions C_PointMass, C_Ground, 2, 3 Type Vector Field x# Field y# End Type Type PointMass Field Pivot Field Old.Vector Field Acceleration.Vector Field Offset.Vector Field Mass# Field InvMass# Field Pick End Type Type Constraint Field Flag Field Entity Field Radius# Field p1.PointMass Field p2.PointMass Field MaxLength# Field MinLength# End Type Type Body Field PointMasses Field p.Pointmass[ 50 ] End Type Type Pose Field Position.vector[15] End Type Type Animation Field Frames Field Keyframe.Pose[ 10 ] End Type GAMEinit() While Not KeyDown(1) GAMEupdate() UpdateWorld() RenderWorld() Flip Wend ;===================================================== ;===================================================== ;===================================================== Function GAMEinit() LIMB = CreateSphere() PositionMesh LIMB,0,0,1 ScaleMesh LIMB , .5, .5, .5 EntityColor LIMB,200,100,100 UpdateNormals LIMB EntityFX LIMB, 4 EntityAlpha LIMB,.25 HideEntity LIMB P = CreateCube() ScaleMesh P, 70,70,70 EntityColor P,50,75,150 FlipMesh P UpdateNormals P EntityType P, C_Ground JOINT = CreateSphere() EntityColor JOINT, 150,100,50 HideEntity JOINT LIGHT = CreateLight() CAMERA = CreateCamera() PositionEntity CAMERA , 0 , 0, -100 CameraFogMode CAMERA, 1 CameraFogRange CAMERA, 80,120 CameraFogColor CAMERA,0,0,0 TEST = BODYcreate() BODYreset( TEST , 0,20) CURSORinit() End Function ;===================================================== ;===================================================== ;===================================================== Function GAMEupdate() CURSORupdate() POINTMASSupdate() CONSTRAINTupdate() BODYupdate() End Function ;===================================================== ;===================================================== ;===================================================== Function CURSORinit() PLANE = CreatePlane() RotateEntity PLANE , -90,0,0 EntityAlpha PLANE, 0 EntityPickMode PLANE, 2 CURSOR = CreateSphere() EntityColor CURSOR,0,255,255 ARROW = CopyEntity( LIMB , CURSOR ) EntityColor ARROW , 0,255,255 End Function ;===================================================== ;===================================================== ;===================================================== Function CURSORupdate() ML = MouseDown(1) CameraPick ( CAMERA , MouseX(), MouseY() ) PositionEntity CURSOR , PickedX(), PickedY(), PickedZ() Smallest# = 10000 PICKED = Null For p.pointmass = Each pointmass If p\Pick EntityColor p\Pivot , 50,100,50 Distance# = EntityDistance( p\Pivot , CURSOR ) If Distance# < Smallest Smallest = Distance PICKED = p EndIf EndIf Next If PICKED <> Null EntityColor PICKED\Pivot , 0,255,255 PointEntity ARROW, PICKED\pivot ScaleEntity ARROW , 1 , 1, EntityDistance( ARROW , PICKED\pivot ) If ML dx# = ( EntityX( CURSOR ) - EntityX( PICKED\pivot ) ) *.1 dy# = ( EntityY( CURSOR ) - EntityY( PICKED\pivot ) ) *.1 TranslateEntity PICKED\pivot , dx, dy , 0 EndIf EndIf End Function ;===================================================== ;===================================================== ;===================================================== Function BODYupdate() ;if wounded decrease the head/neck between 5-20 For b.body = Each body ;head/ neck VECTORset( b\p[1]\Acceleration , 0, 20 ) VECTORset( b\p[2]\Acceleration , 0, 20 ) ;wrists VECTORset( b\p[4]\Acceleration , -5, -5 ) VECTORset( b\p[7]\Acceleration , 5, -5 ) ;heels VECTORset( b\p[10]\Acceleration , -15, -30 ) VECTORset( b\p[13]\Acceleration , 15, -30 ) ;hands VECTORset( b\p[5]\Acceleration , 0, -1 ) VECTORset( b\p[8]\Acceleration , 0, -1 ) ;elbows VECTORset( b\p[3]\Acceleration , -1, 0 ) VECTORset( b\p[6]\Acceleration , 1, 0 ) ;knees VECTORset( b\p[9]\Acceleration , -1, 0 ) VECTORset( b\p[12]\Acceleration , 1, 0 ) ;feet VECTORset( b\p[11]\Acceleration , -1, -1 ) VECTORset( b\p[14]\Acceleration , 1, -1 ) ; POINTMASSapplyforce( b\p[1] , 0,20 ) ; POINTMASSapplyforce( b\p[2] , 0,20 ) ; ;wrists ; POINTMASSapplyforce( b\p[4] , -5,-10 ) ; POINTMASSapplyforce( b\p[7] , 5,-10 ) ; ;neels ; POINTMASSapplyforce( b\p[10] , -15,-30 ) ; POINTMASSapplyforce( b\p[13] , 15,-30 ) ; ;hands ; POINTMASSapplyforce( b\p[5] , 0,-1 ) ; POINTMASSapplyforce( b\p[8] , 0,-1 ) ; ;elbows ; POINTMASSapplyforce( b\p[3] , -1,0 ) ; POINTMASSapplyforce( b\p[6] , 1,0 ) ; ;knees ; POINTMASSapplyforce( b\p[9] , -1,0 ) ; POINTMASSapplyforce( b\p[12] , 1,0 ) ; ;feet ; POINTMASSapplyforce( b\p[11] , -1,-1 ) ; POINTMASSapplyforce( b\p[14] , 1,-1 ) Next End Function ;===================================================== ;===================================================== ;===================================================== Function BODYcreate.body() b.body = New body b\p[ 0 ] = POINTMASScreate( b,0,0 ) ;hip b\p[ 1 ] = POINTMASScreate( b,0,7.5 ) ;neck b\p[ 2 ] = POINTMASScreate( b,0,12.0 , True ) ;head b\p[ 3 ] = POINTMASScreate( b,-3,5 ) ;l elbow b\p[ 4 ] = POINTMASScreate( b,-4,0 ) ;l wrist b\p[ 5 ] = POINTMASScreate( b,-4 ,-2.5, True ) ;l hand b\p[ 6 ] = POINTMASScreate( b,3,5 ) ;r elbow b\p[ 7 ] = POINTMASScreate( b,4,0 ) ;r wrist b\p[ 8 ] = POINTMASScreate( b,4 ,-2.5 , True ) ;r hand b\p[ 9 ] = POINTMASScreate( b,-3,-6 ) ;l knee b\p[ 10 ] = POINTMASScreate( b,-4,-12 , True) ;l ankle b\p[ 11 ] = POINTMASScreate( b,-6,-12 ) ;l foot b\p[ 12 ] = POINTMASScreate( b,3,-6 ) ;r knee b\p[ 13 ] = POINTMASScreate( b,4,-12, True ) ;r ankle b\p[ 14 ] = POINTMASScreate( b,6,-12 ) ;r foot BODYreset( b ) CONSTRAINTcreate( b\p[ 0 ] , b\p[ 1 ] , 2 ) ;torsoe CONSTRAINTcreate( b\p[ 1 ] , b\p[ 2 ] , 2) ;head CONSTRAINTcreate( b\p[ 1 ] , b\p[ 3 ] , 2) ;l upper arm CONSTRAINTcreate( b\p[ 3 ] , b\p[ 4 ] , 1.5) ;l forearm CONSTRAINTcreate( b\p[ 4 ] , b\p[ 5 ] , 2) ;l hand CONSTRAINTcreate( b\p[ 1 ] , b\p[ 6 ] , 2) ;r upper arm CONSTRAINTcreate( b\p[ 6 ] , b\p[ 7 ] , 1.5) ;r forearm CONSTRAINTcreate( b\p[ 7 ] , b\p[ 8 ] , 2) ;r hand CONSTRAINTcreate( b\p[ 0 ] , b\p[ 9 ] , 2) ;l thigh CONSTRAINTcreate( b\p[ 9 ] , b\p[ 10 ] , 2.5) ;l calf CONSTRAINTcreate( b\p[ 10 ] , b\p[ 11 ] , 2) ;l foot CONSTRAINTcreate( b\p[ 0 ] , b\p[ 12 ], 2 ) ;r thigh CONSTRAINTcreate( b\p[ 12 ] , b\p[ 13 ] , 2.5 ) ;r calf CONSTRAINTcreate( b\p[ 13 ] , b\p[ 14 ] , 2) ;r foot Return b End Function ;===================================================== ;===================================================== ;===================================================== Function BODYreset( b.body , x#=0 , y#=0 ) For l = 0 To b\PointMasses-1 p.pointmass = b\p[l] PositionEntity p\Pivot , x+p\Offset\x , y+p\Offset\y , 0 VECTORset( p\Old , EntityX( p\Pivot ) , EntityY( p\Pivot ) ) ResetEntity p\Pivot Next End Function ;===================================================== ;===================================================== ;===================================================== Function POINTMASSapplyforce( p.Pointmass, Ax#, Ay# ) VECTORset( p\Acceleration , Ax, Ay ) End Function ;===================================================== ;===================================================== ;===================================================== Function POINTMASScreate.pointmass( b.body , x# , y# , Pick = False , Mass#=1.0 , InvMass#=1.0 ) p.pointmass = New pointmass b\PointMasses = b\PointMasses + 1 p\Pivot = CopyEntity ( JOINT ) p\Pick = Pick p\Offset = VECTORcreate(x,y) p\Old = VECTORcreate() p\Acceleration = VECTORcreate() p\Mass = Mass p\InvMass = InvMass EntityType p\Pivot, C_PointMass Return p End Function ;===================================================== ;===================================================== ;===================================================== Function POINTMASSupdate() DRAG# = .01 FRICTION# = .9 ;.5 For p.pointmass = Each pointmass VelocityX# = ( EntityX( p\Pivot ) - p\Old\x ) VelocityY# = ( EntityY( p\Pivot ) - p\Old\y ) VECTORset( p\Old , EntityX( p\Pivot ) , EntityY( p\Pivot ) ) Speed# = Sqr( VelocityX * VelocityX + VelocityY * VelocityY ) ;drag DragX# = VelocityX * Speed * DRAG DragY# = VelocityY * Speed * DRAG ;friction COLLIDED = False For c = 1 To CountCollisions( p\Pivot ) If CollisionNY( p\Pivot, c ) > 0 COLLIDED = True EndIf Next If COLLIDED FrictionX# = VelocityX * FRICTION FrictionY# = VelocityY * FRICTION Else FrictionX# = 0 FrictionY# = 0 EndIf ;movement MoveX# = ( VelocityX - DragX - FrictionX ) + p\Acceleration\x * TIMESTEP MoveY# = ( VelocityY - DragY - FrictionY ) + p\Acceleration\y * TIMESTEP TranslateEntity p\Pivot , MoveX , MoveY, 0 p\Acceleration\x = 0 p\Acceleration\y = 0 Next End Function ;===================================================== ;===================================================== ;===================================================== Function CONSTRAINTcreate( p1.PointMass , p2.PointMass , Radius# , MinLength#=0 ) c.constraint = New constraint c\p1 = p1 c\p2 = p2 c\Radius = Radius c\MaxLength = EntityDistance( p1\pivot , p2\pivot ) c\Entity = CopyEntity( LIMB ) If MinLength > 0 c\MinLength = MinLength c\Flag = PUSH EntityColor c\Entity,255,0,0 Else c\MinLength = c\MaxLength c\Flag = PUSH_PULL EntityColor c\Entity,0,0,255 EndIf End Function ;===================================================== ;===================================================== ;===================================================== Function CONSTRAINTupdate() For i = 1 To iterations For c.constraint = Each constraint p1.pointmass = c\p1 p2.pointmass = c\p2 length# = EntityDistance( p2\Pivot, p1\Pivot )+.0000001 If length > 0 Select c\Flag Case PUSH_PULL Diff# = ( Length - c\MaxLength ) / ( Length * ( p1\InvMass+p2\InvMass) ) dx# = ( EntityX( p2\Pivot ) - EntityX( p1\Pivot ) ) * Diff dy# = ( EntityY( p2\Pivot ) - EntityY( p1\Pivot ) ) * Diff TranslateEntity p1\Pivot , dx*p1\InvMass , dy*p1\InvMass , 0 TranslateEntity p2\Pivot , -dx*p2\InvMass , -dy*p2\InvMass , 0 Case PUSH If length < c\MinLength Diff# = ( Length - c\MinLength ) / ( Length * ( p1\InvMass+p2\InvMass) ) dx# = ( EntityX( p2\Pivot ) - EntityX( p1\Pivot ) ) * Diff dy# = ( EntityY( p2\Pivot ) - EntityY( p1\Pivot ) ) * Diff TranslateEntity p1\Pivot , dx*p1\InvMass , dy*p1\InvMass , 0 TranslateEntity p2\Pivot , -dx*p2\InvMass , -dy*p2\InvMass , 0 EndIf Case PULL If length > c\MaxLength Diff# = ( Length - c\MaxLength ) / ( Length * ( p1\InvMass+p2\InvMass) ) dx# = ( EntityX( p2\Pivot ) - EntityX( p1\Pivot ) ) * Diff dy# = ( EntityY( p2\Pivot ) - EntityY( p1\Pivot ) ) * Diff TranslateEntity p1\Pivot , dx*p1\InvMass , dy*p1\InvMass , 0 TranslateEntity p2\Pivot , -dx*p2\InvMass , -dy*p2\InvMass , 0 EndIf End Select EndIf Next Next For c.constraint = Each constraint PositionEntity c\Entity , EntityX( c\p1\Pivot ) , EntityY( c\p1\Pivot ) , EntityZ( c\p1\Pivot ) PointEntity c\Entity , c\p2\pivot If c\Flag = PUSH_PULL ScaleEntity c\Entity, c\Radius , c\Radius , EntityDistance( c\p1\Pivot , c\p2\Pivot ) EndIf If c\Flag = PUSH ScaleEntity c\Entity, c\Radius , c\Radius , c\MinLength EndIf Next End Function ;===================================================== ;===================================================== ;===================================================== Function VECTORcreate.vector( x#=0 , y#=0 ) v.vector = New vector v\x = x v\y = y Return v End Function ;===================================================== ;===================================================== ;===================================================== Function VECTORset( v.vector , x#=0, y#=0 ) v\x = x v\y = y End Function |
Comments
Verry nice, the first program I've ever run in IDeal... used to use Protean for all my B3D stuff.
Excellent :)
I like bouncing him around :) YAY
this is EXTREMLY entertaining!~!~!~!~!~!